群目标侦察航迹规划方法

摘要

For the purpose of planning the flight path for group target reconnaissance,a method is proposed,which at first divide the target group into several target groups adopting a clustering algorithm,then the problem by hierarchical planning. The first level is the path planning between target groups,the problem is converted to a multiple travelling salesman problem and solved by genetic algorithm,then the shortest flight path is acquired;the second level is the path planning within each target group.Due to the reason that the sensors conduct sweeping type reconnaissance at a certain width,firstly calculate the minimum convex polygon of all targets within each groups adopting Delaunay triangulation algorithm,secondly obtain the shortest flight path which isn't maneuvering frequent in the convex polygon using regional coverage sweep algorithm.As the result demonstrates, the method proposed here is capable of UAV flight planning for group target reconnaissance,and the models and algorithms are highly effective and feasible.%针对群目标侦察中的航迹规划问题,提出先采用聚类算法将目标群分成若干个子目标群,然后采用分层规划方法进行求解.第1层为目标群之间的路径规划,将问题转化为多旅行商问题并采用遗传算法求解确定最短航迹;第2层为子目标群内部的航迹规划,由于传感器通常是以一定宽度进行扫掠式侦察,因此,首先用Delaunay三角剖分算法求出包含子群内所有目标的最小凸多边形,再利用区域覆盖扫掠算法求出凸多边形内机动次数少、路径最短的航迹.仿真结果表明,所设计的航迹规划方法能够实现群目标侦查中无人机的航迹规划,证明了模型的可行性和算法的有效性.